#include "../arduinomega/Wire/Wire.h"
#include "../arduinomega/WProgram.h"
#include "../arduinomega/HardwareSerial.h"

const int MAX_POWER = 1024;
const int FULL_DUTY = 255;
const int HALF_DUTY = 128;
const int OFF_DUTY = 0;

const int FORWARD = 1;
const int BACKWARD = 0;
const int LIFT = 1;

const int RIGHT_MOTOR_PWM_PIN = 6; // enable pin
const int LEFT_MOTOR_PWM_PIN = 7; // enable pin

const int LEFT_MOTOR_CONTROL_PIN_1 = 22; //second bit of the left motor
const int LEFT_MOTOR_CONTROL_PIN_2 = 23; //second bit of the left motor
const int RIGHT_MOTOR_CONTROL_PIN_1 = 24; //second bit of the right motor
const int RIGHT_MOTOR_CONTROL_PIN_2 = 25; //second bit of the right motor


const int RIGHT_MOTOR_SCALE_NUMERATOR = 11;
const int RIGHT_MOTOR_SCALE_DENOMINATOR = 20;
const int LEFT_MOTOR_SCALE_NUMERATOR = 5;
const int LEFT_MOTOR_SCALE_DENOMINATOR = 5 ;

class dcMotor
{
	public:
		int motor_control_pin_1;
		int motor_control_pin_2;
		int motor_pwm_pin;
		int motor_power;
	void setMotorControlPins( int logical_pin_1, int logical_pin_2, int pwm_pin );
	void setMotorPower( int power );
	int getMotorPower();
	void setMotorDirection( int direction );
	void stopMotor();

	private:
};
